CN108333974A - A kind of all-purpose robot control system and method based on ROS - Google Patents
A kind of all-purpose robot control system and method based on ROS Download PDFInfo
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Abstract
The all-purpose robot control system and method, method that the present invention provides a kind of based on ROS include the following steps：S1：By information Perception module real-time perception robot interior and external status information, and the robotary information of perception is sent to middle control module；S2：By the characteristic information in middle control module extraction machine people's status information, according to the corresponding motion model information of characteristic information analysis robot status, and motion model information is sent to output control module；S3：Motion model information is resolved into robot control instruction information by output control module, and control instruction information is transferred to the controller of robot all parts.It can be control effectively to all-purpose robot by this method, have many advantages, such as that universal performance is good, can accurately controlling robotary, fault freedom, good and robot modules information effectively integrates.
Description
Technical field
The invention belongs to technical field of robot control, and in particular to a kind of all-purpose robot control system based on ROS
And control method.
Background technology
With the fast development of artificial intelligence technology, intelligent robot technology is also constantly ripe perfect, and applies in work
Multiple application fields such as industry, business, medical treatment, education, finance.Building for Study of Intelligent Robot Control system is mainly divided to two kinds, one kind
It is the robot operating system ROS (Robot Operating System) that increases income, is robot software's platform, can is different
Matter computer cluster provides the function of similar operations system, or robot development person's offer one is standardized, increases income
Programming framework, but the real-time thread operability of ROS is bad；Another kind is the robot operating system OROCOS (Open that increase income
Robot Control Software), it has good real-time thread operability, but its opening and versatility are not so good as
ROS。
Currently, most of robot operating systems have the following problems in actual use on the market：
1, the poor universality, handling of existing robot control system are single, and each robot operating system has certainly
Oneself specific gene, the object that can be controlled is very single, can only be to having the robot of specific structure corresponding with specific gene
It is controlled.
2, the management module of intelligent robot is various, and the durability demand of robot code is more and more, various information without
Method is integrated inside a system, and existing robot management system can not adapt to corresponding demand,
3, poor to the control property of robotary, the ambient condition residing for robot, various burst things can not be controlled in real time
Part can influence the judgement of robot, cause robot that can not accurately control.
4, the fault-tolerant ability of existing robot control system is poor, and intelligent robot needs to fully consider distributing layer in operation
With hierarchical relationship, time scale and the Ordered Dependency for implementing interlayer.
Invention content
For deficiencies of the prior art, the technical problem to be solved by the present invention is to how to design one kind can
The effectively general-purpose control system and control method of control intelligent robot, with universal performance is good, can accurately control robot shape
The advantages that state, fault freedom are good and effectively integrate robot modules information.
In order to solve the above technical problems, present invention employs the following technical solutions：
A kind of all-purpose robot control system based on ROS, including information Perception module, middle control module, output control mould
Block and communication management module；
Described information sensing module, for real-time perception robot interior and external status information, and by the machine of perception
Device people's status information is sent to middle control module；
The middle control module, for the characteristic information in extraction machine people's status information, according to characteristic information analysis machine
The corresponding motion model information of people's status, and motion model information is sent to output control module；
The output control module, for motion model information to be resolved into robot control instruction information, and will control
Command information is transferred to the controller of robot all parts；
The communication management module, for the communication between information Perception module, middle control module and output control module, and
Communication between control system and external host computer.
A kind of all-purpose robot control method based on ROS, includes the following steps：
S1：By information Perception module real-time perception robot interior and external status information, and by the robot of perception
Status information is sent to middle control module；
S2：By the characteristic information in middle control module extraction machine people's status information, according to institute of characteristic information analysis robot
The corresponding motion model information of place's state, and motion model information is sent to output control module；
S3：Motion model information is resolved into robot control instruction information by output control module, and by control instruction
Information is transferred to the controller of robot all parts.
Further, described information sensing module includes internal information sensing module and external information sensing module, outside
Information Perception module includes image capturing device, sound transducer and touch sensor, and internal information sensing module includes being used for
Detect the angular transducer and torque sensor of joint of robot movement, and the temperature biography for detecting robot internal temperature
Sensor.
Further, described image filming apparatus is for obtaining vehicle identification information, recognition of face information, article identification letter
Breath, quality testing information and navigator fix information；The information of sound transducer detection include voice messaging, semantic information and
Voiceprint；The touch sensor includes range sensor, pressure sensor and sliding feeling sensor.
Further, the quality testing information includes black and white area detecting in image, whether there is or not detection, wheels for color component
Exterior feature whether there is or not detection, it is deep or light whether there is or not detection, light and shade bulk number detection, annulus burr detection, sags and crests detection, line linear distance detection
With round distance detection.
Further, the method for the vehicle identification information is as follows：
S201：Vehicle image is obtained by image capturing device, and vehicle image information is transferred to middle control module；
S202：Middle control module receives vehicle image information, is pre-processed to vehicle image, to eliminate nothing in vehicle image
The information of pass；
S203：It identifies the character in pretreated vehicle image, and character is individually divided into corresponding character block；
S204：Character block after segmentation is normalized, the characteristic information of character block after normalized is extracted,
The character block characteristic information of extraction and default storage characteristic information are compared, the identification of character is completed.
Further, the method for the recognition of face information is as follows：
S211：Facial image is obtained by image capturing device, and human face image information is transferred to middle control module；
S212：Middle control module receives human face image information, is pre-processed to facial image, to eliminate nothing in facial image
The information of pass；
S213：The characteristic information in pretreated facial image is extracted, by the face characteristic information of extraction and default people
Face model information is compared, and the similarity of face characteristic information and default faceform's information is analyzed, if similarity is higher than
Preset value, then recognition of face is correct, conversely, then recognition of face mistake.
Further, the robot control instruction information include robot mobile message, robot pose adjustment information,
Information, voice output information and expression output information is clamped in robotic arm.
Further, the middle control module includes logic analysis module and mechanism module, point of logic analysis module
It includes task management information, coordinated management information and energy management information to analyse information, and the analysis information of mechanism module includes
Conditioned reflex information, brain control information and information feedback breath.
Further, the information sensing method of described information sensing module includes the following steps：
Perception information stress to acquire and screen, to shield the garbage or noise information in perception information, and
Classify to perception information；
Corresponding transinformation or frequency are selected according to the type of perception information.
Compared with prior art, beneficial effects of the present invention：
The versatility of all-purpose robot control system disclosed by the invention based on ROS, the control system is high, is suitable for big
Most all-purpose robots improve the versatility of robot control without specific robot manipulation gene and structure.The system
Multiple function modules have been subjected to organic combination, the application demand of various robots can be met, improve robot control system
It is handling, save development cost.Intelligent robot state in which, Ke Yiying can be accurately controlled in real time by the system
To various emergency situations.The system has a good fault-tolerant ability, distributing layer with implement the hierarchical relationship of interlayer, time scale and
Ordered Dependency understands completely.
Description of the drawings
Fig. 1 is the control flow chart of all-purpose robot control method in the embodiment of the present invention；
Fig. 2 is the functional block diagram of all-purpose robot control system in the embodiment of the present invention；
Fig. 3 is the vehicle identification flow chart of all-purpose robot control method in the embodiment of the present invention；
Fig. 4 is the recognition of face flow chart of all-purpose robot control method in the embodiment of the present invention；
Fig. 5 is the structure diagram of all-purpose robot control system in the embodiment of the present invention.
Specific implementation mode
The embodiment of technical solution of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for
Clearly illustrate technical scheme of the present invention, therefore be intended only as example, and the protection of the present invention cannot be limited with this
Range.
Embodiment：
With reference to Fig. 2 and Fig. 5, a kind of all-purpose robot control system based on ROS, including information Perception module, middle control mould
Block, output control module and communication management module；
Described information sensing module, for real-time perception robot interior and external status information, and by the machine of perception
Device people's status information is sent to middle control module；
The middle control module, for the characteristic information in extraction machine people's status information, according to characteristic information analysis machine
The corresponding motion model information of people's status, and motion model information is sent to output control module；
The output control module, for motion model information to be resolved into robot control instruction information, and will control
Command information is transferred to the controller of robot all parts；
The communication management module, for the communication between information Perception module, middle control module and output control module, and
Communication between control system and external host computer.
In the present embodiment, described information sensing module includes internal information sensing module and external information sensing module, outside
Portion's information Perception module includes image capturing device, sound transducer and touch sensor, and internal information sensing module includes using
In the angular transducer and torque sensor of detection joint of robot movement, and the temperature for detecting robot internal temperature
Sensor.
In the present embodiment, described image filming apparatus is for obtaining vehicle identification information, recognition of face information, article identification
Information, quality testing information and navigator fix information；The information of the sound transducer detection includes voice messaging, semantic information
And voiceprint；The touch sensor includes range sensor, pressure sensor and sliding feeling sensor.
In the present embodiment, the quality testing information include black and white area detecting in image, color component whether there is or not detection,
Profile whether there is or not detection, it is deep or light whether there is or not detection, light and shade bulk number detection, annulus burr detection, sags and crests detection, line linear distance inspection
It surveys and round distance detects.
In the present embodiment, the robot control instruction information includes robot mobile message, robot pose adjustment letter
Breath, robotic arm clamping information, voice output information and expression output information.Wherein voice output may be used Baidu's voice or
HKUST News voice, expression is defeated to may be used opengl, QT or MFC.
In the present embodiment, the middle control module includes logic analysis module and mechanism module, logic analysis module
It includes task management information, coordinated management information and energy management information, the analysis packet of mechanism module to analyze information
Include conditioned reflex information, brain control information and information feedback breath.
In the present embodiment, the article identification information include color information, shape information, characteristic information, bar code information and
Radio-frequency information.
In the present embodiment, the communication management module includes intercommunication management module and PERCOM peripheral communication management module, interior
Portion's communication management module be used between information Perception module and logic analysis module, between logic analysis module and mechanism module,
Communication between mechanism module and output control module；PERCOM peripheral communication management module is used between robot and host computer, is related
The communication in the machine human world.
In above-mentioned all-purpose robot control system, the communication mode between mechanism module and output control module can be adopted
With wifi transparent transmissions, NFC, Zigbee, RFID communication, 232 agreements, 485 agreements, IIC agreements, SPI protocol, monobus lin protocol,
ProfiNet buses, EtherNet/IP buses or CAN bus technology.CANopen may be used in communication between system and host computer
Mouth mouth, DeviceNet buses, Modbus, ProfiNet bus, BACNet agreements, EtherNet/IP buses, CAN bus skill
Art, industrial Ethernet technology, wifi transparent transmissions or Zigbee.The communication in correlation machine people or the process upstream and downstream cooperation machine human world
Mode may be used Zigbee, infrared communication, bluetooth communication, wifi transparent transmissions, NFC, RFID communication, 232 agreements, 485 agreements,
IIC agreements, SPI protocol or monobus lin protocol.This system carries out outdoor activity location navigation and GPS, A-GPS, GPRS may be used
Or base station location.It carries out indoor activity location navigation and RFID communications, WLAN and wifi positioning, Zigbee, radio frequency skill may be used
Art, uwb high accuracy positionings, NFC Radio Frequency Identification Technology, Bluetooth technology, A-GPS, planar bar code technology, acoustic location, scene Recognition
Positioning or IP positioning.
In the present embodiment, the mode of the navigator fix acquisition of information includes NFC radio frequency identifications, graphic code identification, Hall
Magnetic field detection, infrared distance measurement, ultrasonic ranging or positioning furniture.
Referring to Fig.1, a kind of all-purpose robot control method based on ROS, includes the following steps：
S1：By information Perception module real-time perception robot interior and external status information, and by the robot of perception
Status information is sent to middle control module；
S2：By the characteristic information in middle control module extraction machine people's status information, according to institute of characteristic information analysis robot
The corresponding motion model information of place's state, and motion model information is sent to output control module；
S3：Motion model information is resolved into robot control instruction information by output control module, and by control instruction
Information is transferred to the controller of robot all parts.
With reference to Fig. 3, the method for vehicle identification information is as follows：
S201：Vehicle image is obtained by image capturing device, and vehicle image information is transferred to middle control module；
S202：Middle control module receives vehicle image information, is pre-processed to vehicle image, to eliminate nothing in vehicle image
The information of pass；
S203：It identifies the character in pretreated vehicle image, and character is individually divided into corresponding character block；
S204：Character block after segmentation is normalized, the characteristic information of character block after normalized is extracted,
The character block characteristic information of extraction and default storage characteristic information are compared, the identification of character is completed.
With reference to Fig. 4, the method for recognition of face information is as follows：
S211：Facial image is obtained by image capturing device, and human face image information is transferred to middle control module；
S212：Middle control module receives human face image information, is pre-processed to facial image, to eliminate nothing in facial image
The information of pass；
S213：The characteristic information in pretreated facial image is extracted, by the face characteristic information of extraction and default people
Face model information is compared, and the similarity of face characteristic information and default faceform's information is analyzed, if similarity is higher than
Preset value, then recognition of face is correct, conversely, then recognition of face mistake.
During above-mentioned face identification method, it is also necessary to be aligned the facial image of shooting and default faceform, use
ASM, AAM or CLM.The algorithm that recognition of face uses has Gabor transformation, PCA, LDA, Ada+gabor and rarefaction representation method.
In above-mentioned all-purpose robot control method, need to pre-establish the models such as various object events, goal task, and root
Corresponding characteristic factor is preset according to corresponding model.
In the present embodiment, the information sensing method of described information sensing module includes the following steps：
Perception information stress to acquire and screen, to shield the garbage or noise information in perception information, and
Classify to perception information；
Corresponding transinformation or frequency are selected according to the type of perception information.
The screening technique of described information sensing module perception information is as follows：
1, it is screening foundation with object event.In the case of different operation industrial and minerals, external environment and moving target, when
When the object event state of robot perception changes, data acquiring frequency is changed accordingly.For example, setting robot
Normal data sample frequency is 1KHZ, and robot is 10HZ in the data sampling frequency of steady operation, when robot
When working condition changes, then data sampling frequency is improved, sample frequency can be set as 10KHZ, be likely to occur to hold in time
Risk.
2, it is screening foundation with task objective.For example, robot is screwing, screw the main hand for using robot
Arm motor then carries out high-frequency sampling to arm motor.If robot carry out indoor navigation positioning, we just mainly for
The sensor informations such as chassis, gyroscope, odometer carry out high-frequency acquisition, other positions then reduce sample frequency.
3, it when that can not determine object event and task objective, is screened in the following manner：
(1) more data are obtained.High-frequency data acquisition is carried out for robot movable purpose, carries out training in advance
Process obtains immediate model, we regular evaluation model and can study sample during the training period, to identify those
Most possibly by the sample of mistake classification.This let us can advisably select the sample that algorithm more often learns.
(2) change label target.In practical applications, it is which motor is working often to need not distinguish between with robot
(such as：Arm motor or hand motor), as long as identify two as long as one of them it is much of that.Two motors are synthesized a mark
Note, regard as mechanical arm can, in this case sampling assessment can simplify problem.
(3) ignore.Ignore the part sample of common class, (such as when the sample number of each classification is substantially close：Hand electricity
Machine and wrist motor), this method can be used.
(4) excessive sampling or lack sampling.Excessively sampling refer to algorithm learn rare classification sample frequency it is higher, and owe to adopt
Sample is then opposite situation.In terms of algorithm angle, what both methods generated is all identical result.Compared to former approach,
The advantage of this method is not ignore any sample.
All-purpose robot control system and method provided by the invention based on ROS, have the following advantages：Robot system
The physics law of the inside is expressed in a manner of information；System itself has the ability of examining oneself property, can perceive and predict itself
The variation of state, to prevent emergency situations；The system can be that robot assigns " EQ ", realize the cooperative intelligent of device activity；
Gains in depth of comprehension knowledge can be obtained to acquainted management and use.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to reality
Example is applied to describe the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the technical side of the present invention
Case is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered in the present invention
Protection domain in.
Claims (10)
1. a kind of all-purpose robot control system based on ROS, which is characterized in that including information Perception module, middle control module, defeated
Go out control module and communication management module；
Described information sensing module, for real-time perception robot interior and external status information, and by the robot of perception
Status information is sent to middle control module；
The middle control module, for the characteristic information in extraction machine people's status information, according to institute of characteristic information analysis robot
The corresponding motion model information of place's state, and motion model information is sent to output control module；
The output control module, for motion model information to be resolved into robot control instruction information, and by control instruction
Information is transferred to the controller of robot all parts；
The communication management module, for the communication between information Perception module, middle control module and output control module, and control
Communication between system and external host computer.
2. a kind of all-purpose robot control method based on ROS, which is characterized in that include the following steps：
S1：By information Perception module real-time perception robot interior and external status information, and by the robotary of perception
Information is sent to middle control module；
S2：By the characteristic information in middle control module extraction machine people's status information, according to shape residing for characteristic information analysis robot
The corresponding motion model information of state, and motion model information is sent to output control module；
S3：Motion model information is resolved into robot control instruction information by output control module, and by control instruction information
It is transferred to the controller of robot all parts.
3. all-purpose robot control method according to claim 2, which is characterized in that described information sensing module includes interior
Portion's information Perception module and external information sensing module, external information sensing module include image capturing device, sound transducer
And touch sensor, internal information sensing module include the angular transducer and moment sensing for detecting joint of robot movement
Device, and the temperature sensor for detecting robot internal temperature.
4. all-purpose robot control method according to claim 3, which is characterized in that described image filming apparatus is for obtaining
Take vehicle identification information, recognition of face information, article identification information, quality testing information and navigator fix information；The sound
The information of sensor detection includes voice messaging, semantic information and voiceprint；The touch sensor include range sensor,
Pressure sensor and sliding feeling sensor.
5. all-purpose robot control method according to claim 4, which is characterized in that the quality testing information includes figure
As in black and white area detecting, color component whether there is or not detection, profile whether there is or not detection, it is deep or light whether there is or not detection, light and shade bulk number inspection
It surveys, the detection of annulus burr, sags and crests detection, line linear distance detects and round distance detection.
6. the all-purpose robot control method according to claim 4 based on ROS, which is characterized in that the vehicle identification
The method of information is as follows：
S201：Vehicle image is obtained by image capturing device, and vehicle image information is transferred to middle control module；
S202：Middle control module receives vehicle image information, is pre-processed to vehicle image, unrelated in vehicle image to eliminate
Information；
S203：It identifies the character in pretreated vehicle image, and character is individually divided into corresponding character block；
S204：Character block after segmentation is normalized, the characteristic information of character block after normalized is extracted, will carry
The character block characteristic information and default storage characteristic information taken is compared, and completes the identification of character.
7. the all-purpose robot control method according to claim 4 based on ROS, which is characterized in that the recognition of face
The method of information is as follows：
S211：Facial image is obtained by image capturing device, and human face image information is transferred to middle control module；
S212：Middle control module receives human face image information, is pre-processed to facial image, unrelated in facial image to eliminate
Information；
S213：The characteristic information in pretreated facial image is extracted, by the face characteristic information of extraction and default face mould
Type information is compared, and analyzes the similarity of face characteristic information and default faceform's information, if similarity is higher than default
Value, then recognition of face is correct, conversely, then recognition of face mistake.
8. all-purpose robot control method according to claim 2, which is characterized in that the robot control instruction information
Including robot mobile message, robot pose adjustment information, robotic arm clamping information, voice output information and expression output letter
Breath.
9. all-purpose robot control method according to claim 2, which is characterized in that the middle control module includes logic point
Module and mechanism module are analysed, the analysis information of logic analysis module includes task management information, coordinated management information and energy
Management information is measured, the analysis information of mechanism module includes conditioned reflex information, brain control information and information feedback breath.
10. all-purpose robot control method according to claim 2, which is characterized in that the letter of described information sensing module
Breath cognitive method includes the following steps：
Perception information stress to acquire and screen, to shield the garbage or noise information in perception information, and to sense
Know that information is classified；
Corresponding transinformation or frequency are selected according to the type of perception information.
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| CN112925467A (en) * | 2021-01-27 | 2021-06-08 | 江苏天策机器人科技有限公司 | Commercial cleaning robot human-computer interaction system |
| CN113188591A (en) * | 2021-04-09 | 2021-07-30 | 苏州大学 | Self-powered multi-mode sensing method for space environment |
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